Universal-Spatial Robotic Tail Mechanism

The Universal-Spatial Robotic Tail (USRT) is a hybrid robotic manipulator that combines an elastic back bone of a continuum robot with a series serial chain of universal joints as the tail structure. These universal joints allow relative yaw and pitch between individual bodies. Individual segments are created by terminating actuation cabling at a given disk. The cables' actuation is distributed along USRT by elastic springs between disks. Two types of springs are utilized: a central compressive spring that resists bending in all directions, and a vertical extension spring that helps offset gravity. The mechanism is envision to be used onboard mobile robots to generate forces moments about its base to enhance stabilization, maneuvering, dynamic self-righting, and manipulation capabilities.

Patent Information:
For Information, Contact:
Rozzy Finn
Licensing Officer
Virginia Tech Intellectual Properties, Inc.
Rozzy@vt.edu
Inventors:
Pinhas Ben-Tzvi
William Rone
Wael Saab
Keywords: